Robert de Lacy (2) was allowed to inherit the honour of Pontefract as soon as his father’s death became known. He paid a relief of a thousand marks to take possession of the lands. This was paid in four instalments and by Michaelmas 1181 the debt was cleared.
Robert was probably at the coronation of Richard I as he witnessed the coronation charter. He may also have served with the king on the campaign of 1186-87 as he was not charged scutage for that year.
He was married to Isabella, the second daughter of Hamelin, earl of Warenne. They had no children and when Robert died on 21st August 1193 the lands passed to his cousin Aubrey (Albreda). She was the daughter of the Aubrey (Albreda) who was a sister of Ilbert de Lacy (2) and daughter of Robert de lacy (1) who had married Robert de Lisours, Lord of Sprotborough, in 1129. Their daughter Albreda had married Richard FitzEustace, 5th baron of Halton and had a son John who died in Tyre in 1190. John and his wife Alice de Vere had at least two sons – Roger who inherited the de Lacy estates from his grandmother and Richard, who contracted leprosy and who was buried at Norton Priory.